A workpiece point three-dimensional coordinate measuring device, method and system

Abstract

The present invention discloses a device, method and system for measuring the three-dimensional coordinates of workpiece points, wherein the device comprises: a moving mechanism, the moving mechanism is used to place the workpiece, and at least two workpiece points are marked on the workpiece; an imager, which is arranged on the moving mechanism, and the imager is used to image the workpiece points; a rangefinder, which is connected to the imager, and the rangefinder is used to determine the straight-line distance between the workpiece point and the rangefinder. The present invention drives the imager and the rangefinder to move synchronously through the moving mechanism, so that the workpiece point is located in the image collected by the imager, obtains the moving parameters of the imager, cooperates with the image collected by the imager and the rangefinder to determine the straight-line distance of the workpiece point, obtains the three-dimensional coordinates corresponding to each of the multiple workpiece points, and then obtains the geometric parameters between the multiple workpiece points, thereby improving the accuracy of measuring the geometric parameters between the multiple workpiece points of the workpiece.

Description

Technical Field

[0001] The present invention relates to the field of measuring equipment, and in particular to a device, method and system for measuring three-dimensional coordinates of workpiece points. Background Art

[0002] Dimension measurement is an indispensable part of industrial production. The main dimension measurement methods and defects in the existing technology are as follows:

[0003] First, manual measurement with rulers and compasses: use rulers, angle gauges, etc. to measure straight-line distances and angles, and use plug gauges to measure hole sizes. The measurement method is simple and easy to master, but it cannot measure workpieces that cannot be placed with rulers and other measuring tools. As the structure of workpieces becomes more and more complex, manual measurement is increasingly unable to meet the needs. In addition, this method can measure the distance and angle between two points, but the geometric relationship between multiple non-coplanar measurement points cannot be determined.

[0004] Second, visual two-dimensional measurement: Place the workpiece under the backlight, the contour of the workpiece and the edge of the through hole will be clearly presented; then use the camera to capture the image, and select the corresponding measurement point for measurement based on the image. This equipment is generally used to measure the edge, center of a circle and other distances of small flat plates. It has the advantages of convenient measurement and higher measurement accuracy than manual measurement; but it requires the workpiece to be measured to be a flat plate. If there is a height difference between the measurement points, or the measurement points are not on the contour line or edge, it cannot be measured; in addition, most visual two-dimensional measurement systems are based on a fixed-position camera, requiring that the workpiece to be measured cannot exceed the camera's field of view, otherwise it cannot be measured; to expand the measurement range, it is necessary to install a high-precision XYZ motion axis.

[0005] Third, touch-type three-dimensional measurement: using a ruby ​​ball as the touch point, the ruby ​​ball is moved through the high-precision XYZ axis to touch the point on the workpiece, and the three-dimensional coordinates of each touch point are obtained, thereby obtaining the relative geometric relationship of the relevant measurement points of the workpiece; it has the advantages of high measurement accuracy, large measurement freedom, and can achieve large span measurement. However, this measurement method cannot touch narrow gaps, small holes, deep holes, etc., so it cannot be measured; second, because the touch ruby ​​ball is a ball with volume, it is difficult for the ruby ​​ball to accurately touch the correct position for sharp edges, vertices, etc., and a slight deviation will cause a considerable measurement error due to the large gradient of the sharp point; third, the workpiece position is required to be fixed during the measurement process. If it moves, the measurement will have errors. Therefore, for workpieces with many measurement points, it is quite troublesome to keep the workpiece position fixed during multiple touch measurements.

[0006] Fourth, visual 3D measurement: generally use a high-precision 3D camera, with a high-precision XYZ three-axis motion platform, through multiple shots and stitching to obtain the geometric three-dimensional model of the workpiece, and then select the points on the three-dimensional model to achieve the geometric measurement of the corresponding points of the workpiece; compared with the above methods, this method has great advantages in depth measurement, large-scale point measurement, etc.; but this type of method is highly dependent on visual imaging effects, and has more requirements on occlusion, reflection, material, ambient light, etc.; for example, for the height of a deep hole, the bottom height cannot be obtained due to occlusion, resulting in the inability to measure; for example, the refraction and reflection caused by different materials on the workpiece will seriously affect the measurement accuracy.

[0007] The above-mentioned measuring tools in the prior art have different characteristics, but using a single measuring method and tool to measure the geometric relationship of multiple workpiece points of a workpiece under different conditions is prone to produce large measurement errors, resulting in low accuracy in measuring the distance between workpiece points.

[0008] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0009] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a device, method and system for measuring three-dimensional coordinates of workpiece points, aiming to solve the problem of low accuracy in measuring the distance between two workpiece points in the prior art.

[0010] The technical solution of the present invention is as follows:

[0011] In a first aspect, the present invention provides a workpiece point three-dimensional coordinate measuring device, wherein the device comprises:

[0012] A moving mechanism, the moving mechanism is used to place a workpiece, and the workpiece is marked with at least two workpiece points;

[0013] An imager, arranged on the moving mechanism, and used for imaging a workpiece point;

[0014] A rangefinder is connected to the imager, and the rangefinder is used to determine the straight-line distance between the workpiece point and the rangefinder.

[0015] In one embodiment, the moving mechanism comprises:

[0016] A workpiece mounting platform, used for placing the workpiece;

[0017] A motion axis is movably connected to the workpiece mounting platform and is used to drive the imager and the rangefinder to move synchronously.

[0018] In one embodiment, the imager is a camera, and the optical axis of the camera is perpendicular to the end surface of the workpiece mounting platform; and / or

[0019] The rangefinder is a laser, and the image collected by the imager includes: laser reflection points; the laser reflection points are formed by projecting the light emitted by the laser onto the workpiece.

[0020] In one embodiment, the device further comprises:

[0021] A controller, connected to the moving mechanism, the imager and the rangefinder by signals respectively;

[0022] A display device is connected to the controller signal and is used to display the image captured by the imager.

[0023] In a second aspect, the present invention provides a method for measuring three-dimensional coordinates of a workpiece point, wherein the method comprises:

[0024] Controlling the movement of an imager and a rangefinder so that a workpiece point of a workpiece is located in an image captured by the imager, and obtaining movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece;

[0025] Controlling the imager and the rangefinder to move so that the light emitted by the rangefinder is aimed at the workpiece point, and obtaining the straight-line distance between the rangefinder and the workpiece point;

[0026] Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance;

[0027] According to the three-dimensional coordinates of the two workpiece points respectively, the geometric parameters between the two workpiece points are determined.

[0028] In one embodiment, the device further comprises:

[0029] A controller, connected to the moving mechanism, the imager and the rangefinder by signals respectively;

[0030] A display device, connected to the controller signal, for displaying the image captured by the imager;

[0031] Wherein, the display device is provided with a marking point;

[0032] The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate;

[0033] Controlling the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager, including:

[0034] Controlling the imager and the rangefinder to move so that the workpiece point and the marking point coincide with each other in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance;

[0035] Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance includes:

[0036] Determine the X coordinate according to the X-axis movement distance;

[0037] Determine the Y coordinate according to the Y axis movement distance;

[0038] The Z coordinate is determined according to the straight-line distance.

[0039] In one embodiment,

[0040] The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate;

[0041] Controlling the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager, including:

[0042] Controlling the imager and the rangefinder to move so that the workpiece point is located in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance;

[0043] Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance includes:

[0044] Determine the X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image;

[0045] Determine the Y coordinate according to the Y axis moving distance of the workpiece point in the image;

[0046] The Z coordinate is determined according to the straight-line distance.

[0047] In one embodiment, determining the Z coordinate according to the straight-line distance includes:

[0048] Determine the Z-axis projection distance according to the straight-line distance;

[0049] The Z coordinate is determined according to the Z-axis projection distance and the Z-axis coordinate of the rangefinder.

[0050] In one embodiment, the moving mechanism comprises:

[0051] A workpiece mounting platform, used for placing the workpiece;

[0052] A motion axis, movably connected to the workpiece mounting platform, and used to drive the imager and the rangefinder to move synchronously;

[0053] The method of controlling the imager and the rangefinder to move so that the workpiece point of the workpiece is located in the image captured by the imager and obtaining the movement parameters of the imager also includes:

[0054] Calibrate the position of the imager so that the optical axis of the imager is perpendicular to the end surface of the workpiece mounting platform;

[0055] The distance meter is calibrated so that the relative position between the distance meter and the imager is determined.

[0056] In a third aspect, the present invention provides a workpiece point three-dimensional coordinate measurement system, which includes:

[0057] An image acquisition module is used to control the movement of an imager and a rangefinder so that a workpiece point of a workpiece is located in an image captured by the imager, and obtain movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece;

[0058] A distance acquisition module, used for controlling the movement of the imager and the rangefinder so that the light emitted by the rangefinder is aimed at the workpiece point, and obtaining the straight-line distance between the rangefinder and the workpiece point;

[0059] A coordinate determination module, used for obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance;

[0060] The spatial distance determination module is used to determine the geometric parameters between the two workpiece points according to the three-dimensional coordinates of the two workpiece points.

[0061] Beneficial effects: The present invention provides a device, method and system for measuring the three-dimensional coordinates of workpiece points, wherein the device comprises: a moving mechanism, the moving mechanism is used to place the workpiece, and at least two workpiece points are marked on the workpiece; an imager, which is arranged on the moving mechanism, and the imager is used to image the workpiece points; a rangefinder, which is connected to the imager, and the rangefinder is used to determine the straight-line distance between the workpiece point and the rangefinder. The present invention drives the imager and the rangefinder to move synchronously through the moving mechanism, so that the workpiece point is located in the image captured by the imager, obtains the moving parameters of the imager, cooperates with the image captured by the imager and the rangefinder to determine the straight-line distance of the workpiece point, obtains the three-dimensional coordinates corresponding to each of the multiple workpiece points, and then obtains the geometric parameters between the multiple workpiece points, thereby improving the accuracy of measuring the geometric parameters between the multiple workpiece points of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a planar structural diagram of the workpiece point three-dimensional coordinate measuring device of the present invention.

[0063] Figure 2 It is a planar structural diagram of the present invention when measuring workpiece points.

[0064] Figure 3 It is a planar structural diagram of the mobile mechanism of the present invention.

[0065] Figure 4 It is a plan view of the structure of the first embodiment of the imager and rangefinder of the present invention.

[0066] Figure 5 It is a plan view of the structure of the second embodiment of the rangefinder of the present invention.

[0067] Figure 6 The figure is a schematic plan view of the imager of the present invention measuring two workpiece points.

[0068] Figure 7 The figure is a plan view of the distance meter of the present invention measuring two workpiece points.

[0069] Figure 8 The figure is a flow chart of the method for measuring three-dimensional coordinates of workpiece points of the present invention.

[0070] Fig. 9 A schematic diagram showing changes in the first implementation mode of images captured by the imager of the present invention.

[0071] Fig.10 A schematic diagram showing changes in the second implementation of an image captured by the imager of the present invention.

[0072] Fig.11 This is a connection diagram of the internal modules of the workpiece point three-dimensional coordinate measurement system of the present invention.

[0073] Fig.12 A functional block diagram of a computer device provided in an embodiment of the present invention.

[0074] Explanation of the reference numerals in the accompanying drawings: 100, moving mechanism; 101, X-axis; 102, Y-axis; 103, Z-axis; 104, XOY plane; 105, bracket; 200, imager; 201, optical axis; 202, imager field of view; 300, rangefinder; 301, light; 302, laser reflection point; 400, controller; 500, display device, 501, identification point; 600, workpiece point; 601, workpiece marking point; 602, reflection marking point. DETAILED DESCRIPTION

[0075] The present invention provides a workpiece point three-dimensional coordinate measuring device, method and system. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0076] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0077] It should also be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0078] Dimension measurement is an indispensable part of industrial production. The main dimension measurement methods in the prior art include manual measurement with a ruler, visual two-dimensional measurement, touch-based three-dimensional measurement and visual 3D measurement. However, the above-mentioned prior art is inconvenient to measure the geometric relationship (including distance) between multiple non-coplanar measurement points (i.e., workpiece points) in a complex workpiece, which is prone to large measurement errors, resulting in low accuracy in measuring the distance between workpiece points.

[0079] In order to solve the above problems, the present invention provides a workpiece point three-dimensional coordinate measuring device, such as Figure 1 and Figure 3 As shown, the device comprises:

[0080] A moving mechanism 100, wherein the moving mechanism 100 is used to place a workpiece, and at least two workpiece points are marked on the workpiece;

[0081] An imager 200, disposed on the moving mechanism 100, and used to image a workpiece point;

[0082] The rangefinder 300 is connected to the imager 200 , and the rangefinder 200 is used to determine the straight-line distance between the workpiece point and the rangefinder 300 .

[0083] It is worth noting that the workpiece is placed on the moving mechanism 100, and the moving mechanism 100 is fixedly connected to the imager 200 and the rangefinder 300, that is, the relative positions of the imager 200 and the rangefinder 300 are fixed, so that the two are driven to move synchronously through the moving mechanism 100; when the position of the workpiece is fixed, the imager 200 and the rangefinder 300 can be driven by the moving mechanism 100 to move left and right (X direction), front and back (Y direction), and up and down (Z direction) in space, so that the workpiece point marked on the workpiece is located within the field of view of the imager, so that the workpiece point is located in the image captured by the imager, and the moving mechanism 100 continues to move so that the light of the rangefinder is aligned with the workpiece point, so as to obtain the straight-line distance between the workpiece point and the rangefinder.

[0084] In a preferred embodiment of the present invention, because of the adoption of the above-mentioned technical solution, the imager and the rangefinder are driven to move synchronously through the moving mechanism, so that the workpiece point is located in the image captured by the imager, and the moving parameters of the imager are obtained. The image captured by the imager and the rangefinder are used to determine the straight-line distance of the workpiece point, and the three-dimensional coordinates corresponding to each of the multiple workpiece points are obtained, and then the geometric parameters between the multiple workpiece points (for example, the distance between the workpiece points in this embodiment) are obtained, thereby improving the accuracy of measuring the geometric parameters between the multiple workpiece points of the workpiece and improving the measurement efficiency.

[0085] In this embodiment, if Figure 3 As shown, the moving mechanism 100 comprises:

[0086] A workpiece mounting platform, used for placing the workpiece;

[0087] The motion axis is movably connected to the workpiece mounting platform and is used to drive the imager 200 and the rangefinder 300 to move synchronously.

[0088] Specifically, Figure 3 As shown, the workpiece mounting platform includes an XOY plane 104, which is the end face of the workpiece mounting platform (that is, the upper end face of the platform) and is a horizontal plane. It should be noted that the lower end face of the platform is arranged opposite to the upper end face, and the lower end face of the platform can cooperate with the ground. Again, without specific limitation, the workpiece can be mounted on the XOY plane 104. It should be noted that the bottom end of the workpiece can be aligned with the XOY plane 104, but it is not limited thereto. The bottom end of the workpiece can also be tilted with the XOY plane 104, so that the workpiece point marked on the workpiece can be located in the image captured by the imager 200. The present invention uses people to determine the correctness of the point selection, and has stronger environmental adaptability than pure visual 3D measurement.

[0089] The motion axis includes an X motion axis 101, a Y motion axis 102, and a Z motion axis 103, so as to facilitate the control of the motion axis to move in the XYZ direction. The X motion axis 101, the Y motion axis 102, and the Z motion axis 103 are mutually perpendicular to each other to form a Cartesian coordinate system. By reading the motion distance reading of the corresponding axis, the corresponding three-dimensional space XYZ coordinate value can be obtained, wherein the XOY plane 104 is parallel to the X motion axis 101 and the Y motion axis 102, and perpendicular to the Z motion axis 103; but not limited to this, in other embodiments, the motion axis can be set to a single-axis or double-axis structure, that is, the motion axis moves on the workpiece mounting platform and synchronously drives the imager 200 and the rangefinder 300 to move, and the movement parameters (X-axis movement distance and Y-axis movement distance) of the measurement motion axis can be obtained, and the X-axis movement distance and the Y-axis movement distance correspond to the X coordinate and Y coordinate of the workpiece point respectively. The present invention adopts a large-span motion axis to achieve large-span, high-precision XYZ three-dimensional measurement.

[0090] Furthermore, a bracket 105 is provided on the motion axis, such as Figure 1 As shown, a bracket 105 is provided on the Y motion axis 102, and the bracket is used to fix the laser and the camera on the motion axis, so that they can be rigidly moved in the XYZ space as a whole, and the origin of the coordinate axis is higher than the XOY plane; but not limited to this, it can also be set on the Z motion axis or the X motion axis. When the camera and the rangefinder are set on the Z axis through the bracket, the origin of the coordinate axis can be point O; an imager 200 is provided on one side of the bracket 105, and a rangefinder 300 is provided on the other side of the bracket 105. In other embodiments, two brackets can also be provided, so that the imager 200 and the rangefinder 300 are respectively connected to one bracket, and the specific settings can be modified according to actual needs.

[0091] In this embodiment, if Figure 1 As shown, the imager 200 is a camera, and the optical axis 201 of the camera is perpendicular to the end surface of the workpiece mounting platform (i.e., the upper end surface of the platform); and / or

[0092] The rangefinder 300 is a laser, and the image captured by the imager 200 includes: laser reflection points; the laser reflection points are formed by the light emitted by the laser projected onto the workpiece.

[0093] Specifically, Figure 2As shown, the imager 200 of this embodiment is a camera and the rangefinder 300 is a laser (i.e., a laser rangefinder, which uses a certain parameter of modulated laser to measure the distance to the target); the optical axis 201 of the camera is perpendicular to the XOY plane 104, that is, the optical axis 201 is parallel to the Z motion axis 103, so that the camera moves synchronously during the motion of the motion axis, ensuring that the image collected by the camera 200 is easy to observe, so that it is easy to move the motion axis so that the workpiece point is located in the image collected by the camera 200, ensuring that the movement parameters of the motion axis correspond to the X coordinate and Y coordinate of the workpiece point, and facilitating the movement of the motion axis so that the laser reflection point coincides with the workpiece point; the workpiece point 600 is located in the imager field of view 202 (i.e., the camera field of view), that is, the image collected by the imager 200 includes the workpiece point, and the image collected by the imager also includes the laser reflection point 302, that is, the light 301 (i.e., the laser line) emitted by the laser 300 is projected onto the workpiece. The camera and the laser are mounted on the motion axis as a whole and can be transported to any position within the measurement range by the motion axis.

[0094] It should be noted that if Figure 4 As shown, the light 301 emitted by the rangefinder 300 may be perpendicular to the XOY plane 104, that is, the laser line is parallel to the Z motion axis; or the light 301 is at a certain angle (greater than 0 degrees and less than 90 degrees) to the XOY plane 104, such as Figure 5 and Figure 7 As shown, when there is an obstruction on the workpiece, the rangefinder can easily coincide with the workpiece point and the laser reflection point. At this time, it is necessary to determine the proportional relationship between the straight-line distance and the projection distance in the Z-axis direction in advance, and then determine the Z coordinate of the workpiece point.

[0095] In this embodiment, the device further includes:

[0096] The controller 400 is signal-connected to the mobile mechanism 100, the imager 200 and the rangefinder 300 respectively;

[0097] The display device 500 is signal-connected to the controller 400 and is used to display the image captured by the imager 200 .

[0098] Specifically, Figure 1 and Figure 2 As shown, the controller 400 is respectively connected to the motion axis, camera and laser signals, so that the control signal is output through the controller, the motion axis, camera and laser receive the control signal, control the movement of the motion axis, the camera to capture images and the laser to emit laser lines; the controller is also connected to the display device 500 signal, the display device is a display, which displays the image captured by the camera.

[0099] It should be noted that the controller can be connected to the motion axis, camera, laser and display device through control lines respectively; the controller 400 issues instructions to control the imager 200 and the rangefinder 300 to move to the specified position, and can obtain the XYZ coordinates of the current position; the controller 400 issues instructions to measure the straight-line distance from the laser reflection point 302 to the rangefinder 300, and outputs the straight-line distance signal to the controller 400; the display device 500 can issue instructions to the controller 400 to control the motion axis, the imager (2D (horizontal distance) measurement system) and the rangefinder (1D (height) measurement system), and obtain feedback data. The present invention uses the display device 500 to guide alignment, which is simple to operate and easy to use.

[0100] Furthermore, a positioning cross is provided at the center of the screen of the display device 500, and the intersection of the positioning cross is the identification point 501, and the identification point 501 serves as the imager positioning reference point so that the imaging point of the optical axis 201 of the imager 200 in the image coincides with the identification point 501.

[0101] The present invention can realize the measurement of three-dimensional coordinates of workpiece points, surpassing manual measurement with rulers and visual two-dimensional measurement; and adopts a non-contact measurement method, which has lower requirements for fixation of the workpiece than touch-type three-dimensional measurement and will not damage the workpiece; in addition, the cost of the device of the present invention is comparable to large-span visual two-dimensional measurement, and is lower than touch-type three-dimensional measurement and visual 3D measurement.

[0102] Based on the above embodiments, the present invention also provides a method for measuring the three-dimensional coordinates of a workpiece point, which is applied to the above-mentioned three-dimensional coordinates measuring device of a workpiece point; Figure 8 As shown, the method includes:

[0103] Step S100, controlling the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece.

[0104] In order to accurately measure the distance between two workpiece points marked on the workpiece (i.e., the spatial distance), Figure 2 As shown, in this embodiment, the moving mechanism 100 is moved to control the imager 200 and the rangefinder 300 to move, so that the workpiece point of the workpiece is located in the image captured by the imager 200, and the movement parameters of the imager 200 are obtained, thereby determining the X coordinate and Y coordinate in the spatial coordinates of the workpiece point. It should be noted that the workpiece point may not be located in the image captured by the imager in the initial state, and this is not specifically limited here. In one implementation, the imager used in this embodiment can be a camera, and the rangefinder can be a laser. It can be understood that this embodiment does not limit the specific types of cameras and lasers.

[0105] In some implementations, the apparatus further includes:

[0106] The controller 400 is signal-connected to the mobile mechanism 100, the imager 200 and the rangefinder 300 respectively;

[0107] A display device 500, connected to the controller 400 by signal, for displaying the image captured by the imager 200;

[0108] Wherein, a marking point 501 is arranged on the display device 500 .

[0109] The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate.

[0110] The step S100 specifically includes the following steps:

[0111] Step S110, controlling the imager 200 and the rangefinder 300 to move so that the workpiece point 600 and the marking point 501 overlap in the image captured by the imager 200, and obtaining the X-axis moving distance and the Y-axis moving distance.

[0112] Specifically, a registration cross is provided at the center of the screen of the display device 500, and the intersection of the registration cross is the identification point 501. The imaging point of the optical axis 201 of the imager 200 on the image coincides with the identification point 501, that is, the identification point 501, the imaging point of the optical axis and the center point of the image all coincide. In the initial state of the imager 200 and the rangefinder 300, the X coordinate of the identification point 501 is 0 and the Y coordinate is 0, that is, when the workpiece point does not coincide with the identification point, the horizontal coordinate of the identification point is (0, 0). The imager 200 and the rangefinder 300 are controlled to move synchronously so that the identification point 501 coincides with the workpiece point in the image. At this time, the obtained X-axis moving distance X is the X coordinate of the workpiece point, and the obtained Y-axis moving distance Y is the Y coordinate of the workpiece point, that is, the projection coordinates of the workpiece point 600 on the XOY plane are (X, Y).

[0113] It should be noted that, in this embodiment, the optical axis imaging point is marked by aligning the intersection of the cross to achieve the alignment of the "observable" workpiece point with the optical axis; in other embodiments, for the "virtual measurement points" at specific positions in some geometric figures, the optical axis can be aligned in an auxiliary graphic manner, for example, a circle can be aligned to the edge of a circular hole to obtain the center position of the circle, or a rectangle in any direction can be aligned to the edge of a single hole (waist hole) or a square hole to obtain the center position of the hole; for example, the three-dimensional distance of the intersection of two straight line edges on the workpiece can be measured by auxiliary alignment using a straight line passing through the "optical axis imaging point".

[0114] Furthermore, the image includes a first image and a second image, the X-axis moving distance includes a first X-axis moving distance and a second X-axis moving distance; the Y-axis moving distance includes a first Y-axis moving distance and a second Y-axis moving distance; the workpiece point includes a first workpiece point 600A and a second workpiece point 600B;

[0115] like Figure 2 and Figure 6 As shown, the step S110 specifically includes:

[0116] Step S111, control the imager and the rangefinder to move so that the first workpiece point and the identification point coincide with each other in the first image captured by the imager, and obtain a first X-axis moving distance and a first Y-axis moving distance; that is, the first X-axis moving distance is X A , the first Y axis movement distance is X A .

[0117] Step S112, control the imager and the rangefinder to move so that the second workpiece point and the identification point coincide with each other in the second image captured by the imager, and obtain the second X-axis moving distance and the second Y-axis moving distance. B , the first Y axis moving distance is Y B .

[0118] Step S200: Control the imager and the rangefinder to move so that the light emitted by the rangefinder is aimed at the workpiece point, and obtain the straight-line distance between the rangefinder and the workpiece point.

[0119] Specifically, the image collected by the imager includes: a laser reflection point; the laser reflection point is formed by projecting the light emitted by the laser onto the workpiece.

[0120] The moving mechanism comprises:

[0121] A workpiece mounting platform, used for placing the workpiece;

[0122] A motion axis is movably connected to the workpiece mounting platform and is used to drive the imager and the rangefinder to move synchronously.

[0123] Before step S100, the following steps are also included:

[0124] Step S101, calibrating the position of the imager so that the optical axis of the imager is perpendicular to the end surface of the workpiece mounting platform;

[0125] Step S102: calibrate the position of the rangefinder to determine the relative position between the rangefinder and the imager.

[0126] Specifically, when installing the device, point the optical axis of the imager toward the XOY plane directly below. At this time, the imaging point of the optical axis can coincide with point O (the imager is installed on the Z axis) or be in other positions. It can be set according to actual needs. Continue to install the rangefinder at a position with a fixed relative distance and angle to the camera. The light of the rangefinder can be parallel to or at an angle to the optical axis, which is convenient for calibrating the workpiece point.

[0127] like Figure 2 and Figure 7 As shown, the step S200 specifically includes the following steps:

[0128] Step S210, marking the laser reflection point and the workpiece point in the image to obtain a reflection marking point 602 and a workpiece marking point 601;

[0129] Step S220, determining the X-axis adjustment distance and the Y-axis adjustment distance corresponding to the laser reflection point according to the reflection mark point 602 and the workpiece mark point 601;

[0130] Step S230, according to the X-axis adjustment distance and the Y-axis adjustment distance, control the imager and the rangefinder to move so that the laser emission point after movement coincides with the workpiece marking point 601, and control the rangefinder to obtain the straight-line distance between the rangefinder and the workpiece point.

[0131] Specifically, since the moving mechanism, imager, and rangefinder move synchronously, the image captured by the imager displayed on the display device also moves accordingly. After the imager and the rangefinder move for the first time, the workpiece point is made to coincide with the identification point. At this time, the identification point and the laser reflection point are marked as the workpiece marking point 601 and the reflection marking point 602 in the image, respectively, so as to determine the X-axis adjustment distance and the Y-axis adjustment distance of the laser reflection point that need to be adjusted. After the imager and the rangefinder move, the moved laser reflection point coincides with the workpiece identification point 601 whose position remains unchanged. At this time, the laser reflection point coincides with the workpiece point, so as to obtain the straight-line distance between the workpiece point and the rangefinder through the rangefinder.

[0132] Step S300, obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance.

[0133] The step S300 specifically includes the following steps:

[0134] Step S310, determining the X coordinate according to the X-axis moving distance;

[0135] Step S320, determining the Y coordinate according to the Y axis movement distance;

[0136] Step S330: Determine the Z coordinate according to the straight-line distance.

[0137] Specifically, Figure 6 As shown, the X-axis moving distance X obtained at this time is the X coordinate of the workpiece point, and the Y-axis moving distance Y obtained is the Y coordinate of the workpiece point. That is to say, the projection coordinates of the workpiece point 600 on the XOY plane are (X, Y). Further, the projection coordinates of the first workpiece point 600A and the second workpiece point 600B on the XOY plane are (X, Y) respectively. A , Y A )、(X B , Y B ).

[0138] The step S330 specifically includes the following steps:

[0139] Step S331, determining the Z-axis projection distance according to the straight-line distance;

[0140] Step S332: Determine the Z coordinate according to the Z-axis projection distance and the Z-axis coordinate of the rangefinder.

[0141] Note that Figure 5 and Figure 7 As shown, during the installation of the rangefinder, it is not necessarily possible to ensure that its light is parallel to the Z axis of motion, and it is difficult to detect and calibrate whether it is vertical; therefore, it is necessary to separately consider the relationship between the straight-line distance (i.e., height distance reading) and the Z-axis projection distance (i.e., true height) when the rangefinder changes in height along the Z axis.

[0142] In one embodiment, for the object plane perpendicular to the Z axis, at multiple positions where the X and Y axes remain unchanged and there is a "height difference" on the Z axis, the proportional relationship is calculated based on the linear distance of the rangefinder and the "height difference" of the projection distance in the Z axis direction. In another embodiment, the XYZ motion axes remain stationary, and plane gauges of different heights are placed on the plane perpendicular to the Z axis, and the proportional relationship is calculated based on the linear distance of the rangefinder and the height difference of the gauge. In this way, the Z axis projection distance between the rangefinder and the workpiece point can be determined based on the linear distance.

[0143] Furthermore, if Figure 7 As shown, the straight-line distances between the first workpiece point 600A and the second workpiece point 600B are L A , L B , the Z-axis projection distance T between the first workpiece point 600A and the corresponding rangefinder is calculated according to the determined proportional relationship A , and the Z-axis projection distance T between the second workpiece point 600B and the corresponding rangefinder B It should be noted that the three-dimensional coordinates of the rangefinder corresponding to the first workpiece point 600A and the second workpiece point 600B are (X0, Y0, Z A ) and (X 0’ , Y 0’, Z B ), it is necessary to explain X0, Y0, X 0’ , Y 0’ Thus, the Z coordinates of the first workpiece point 600A and the second workpiece point 600B are respectively Z A -T A and Z B -T B , and then determine the three-dimensional coordinates of the first workpiece point 600A and the second workpiece point 600B are (X A , Y A , Z A -T A )、(X B , Y B , Z B -T B ).

[0144] When the light of the rangefinder is perpendicular to the XOY plane, the straight-line distance L A Distance T from Z axis projection A Same, straight line distance L B Distance T from Z axis projection B Similarly, at this time, the three-dimensional coordinates of the first workpiece point 600A and the second workpiece point 600B are (X A , Y A , Z A -T A )、(X B , Y B , Z B -T B ).

[0145] Step S400: determining the geometric parameters between the two workpiece points according to the three-dimensional coordinates of the two workpiece points.

[0146] According to the X coordinate, Y coordinate, and Z coordinate of the first workpiece point and the X coordinate, Y coordinate, and Z coordinate of the second workpiece point, geometric parameters (such as distance) of the first workpiece point and the second workpiece point are obtained.

[0147] Specifically, after obtaining the three-dimensional coordinates of each workpiece point, various geometric relationships can be calculated. For example, the distance between two workpiece points can be calculated. The projection distance d1 between the first workpiece point 600A and the second workpiece point 600B on the XOY plane is: The projection distance d2 on the motion axis Z is: d2 = |(Z A -T A )-(Z B -T B )|, the distance d between A and B is: However, the invention is not limited thereto and may also be the angle between a line segment formed by two workpiece points and the XOY plane.

[0148] In other implementations, there is a difference between step S100 and step S300, and there is no need to set an identification point that coincides with the workpiece point in the display device, so that after controlling the imager and the rangefinder to move, it is only necessary for the workpiece point to be located in the image captured by the imager. At this time, the movement parameters of the imager, that is, the X-axis movement distance and the Y-axis movement distance are X1 and X2 respectively. The imager can determine the coordinates (X2, Y2) of the workpiece point in the image according to the position of the workpiece point in the image, thereby determining the projection coordinates of the workpiece point in the XOY plane according to the movement parameters of the imager and the position of the workpiece point in the image, that is, (X1+X2, Y1+Y2).

[0149] Specifically, the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate;

[0150] The step S100 specifically includes the following steps:

[0151] Step S110, controlling the imager and the rangefinder to move so that the workpiece point is located in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance.

[0152] like Fig.10 As shown, the image endpoint of the imager in the initial state is set as the starting point, the imager and the rangefinder are controlled to move, and the movement of the moving mechanism is stopped when the workpiece point appears in the image, so as to obtain the projection coordinates of the workpiece point in the XOY plane according to the movement parameters of the imager and the image captured by the imager where the workpiece point is located.

[0153] Furthermore, the imager and the rangefinder are controlled to move so that the first workpiece point 600A is located in the first image captured by the imager, and the first X-axis moving distance X1 is obtained. A and the first Y axis moving distance Y1 A ;

[0154] Control the imager and the rangefinder to move so that the second workpiece point 600B is located in the second image captured by the imager, and obtain the second X-axis moving distance X2 B And the second Y axis movement distance Y2 B .

[0155] The step S300 specifically includes the following steps:

[0156] Step S310, determining an X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image;

[0157] Step S320, determining the Y coordinate according to the Y axis coordinate of the workpiece point in the image according to the Y axis moving distance;

[0158] Step S330: Determine the Z coordinate according to the straight-line distance.

[0159] Specifically, according to the first X-axis moving distance X1, the first Y-axis moving distance Y1, the second X-axis moving distance X2 and the second Y-axis moving distance Y2, the projection coordinates of the first workpiece point 600A and the second workpiece point 600B on the XOY plane are obtained respectively (X1 A +X2 A , Y1 A +Y2 A )、(X1 B +X2 B , Y1 B +Y2 B ).

[0160] The specific implementation of step S330 is as described above, which will not be described in detail here, so that the spatial coordinates of the first workpiece point 600A and the second workpiece point 600B are driven to be (X1 A +X2 A , Y1 A +Y2 A , Z A -T A )、(X1 B +X2 B , Y1 B +Y2 B , Z B -T B ).

[0161] Based on the above embodiments, the present invention also provides a workpiece point three-dimensional coordinate measurement system, such as Fig.11 As shown, including:

[0162] The image acquisition module 01 is used to control the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtain the movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece;

[0163] The distance acquisition module 02 is used to control the movement of the imager and the rangefinder so that the light emitted by the rangefinder is aimed at the workpiece point, and obtain the straight-line distance between the rangefinder and the workpiece point;

[0164] A coordinate determination module 03, used to obtain the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance;

[0165] The spatial distance determination module 04 is used to determine the geometric parameters between the two workpiece points according to the three-dimensional coordinates of the two workpiece points.

[0166] Based on the above embodiments, the present invention further provides a computer device, whose principle block diagram can be shown as follows: Fig.12 As shown. The computer device includes a processor, a memory, a network interface, and a display screen connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external computer device through a network connection. When the computer program is executed by the processor, a method for measuring the three-dimensional coordinates of a workpiece point is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen.

[0167] Those skilled in the art will understand that Fig.12 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0168] In one implementation, the memory of the computer device stores one or more programs, and is configured to be executed by one or more processors. The one or more programs include instructions for performing a method for measuring three-dimensional coordinates of a workpiece point.

[0169] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0170] In summary, the present invention discloses a device, method and system for measuring the three-dimensional coordinates of workpiece points, wherein the device comprises: a moving mechanism, the moving mechanism is used to place the workpiece, and at least two workpiece points are marked on the workpiece; an imager, which is arranged on the moving mechanism, and the imager is used to image the workpiece points; a rangefinder, which is connected to the imager, and the rangefinder is used to determine the straight-line distance between the workpiece point and the rangefinder. The present invention drives the imager and the rangefinder to move synchronously through the moving mechanism, so that the workpiece point is located in the image captured by the imager, obtains the moving parameters of the imager, cooperates with the image captured by the imager and the rangefinder to determine the straight-line distance of the workpiece point, obtains the three-dimensional coordinates corresponding to each of the multiple workpiece points, and then obtains the geometric parameters between the multiple workpiece points, thereby improving the accuracy of measuring the geometric parameters between the multiple workpiece points of the workpiece.

[0171] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A workpiece point three-dimensional coordinate measuring device, characterized in that: The device comprises: A moving mechanism, the moving mechanism is used to place a workpiece, and the workpiece is marked with at least two workpiece points; The moving mechanism comprises: A workpiece mounting platform, used for placing the workpiece; A motion axis, movably connected to the workpiece mounting platform, and used to drive the imager and the rangefinder to move synchronously; The bottom end of the workpiece is aligned with the XOY plane or tilted; an imager is arranged on the moving mechanism, and the imager is used to image the workpiece point; The imager is a camera, and the optical axis of the camera is perpendicular to the end surface of the workpiece mounting platform; and / or The rangefinder is a laser, and the image collected by the imager includes: a laser reflection point; the laser reflection point is formed by projecting the light emitted by the laser onto the workpiece; a rangefinder is connected to the imager, and the rangefinder is used to determine the straight-line distance between the workpiece point and the rangefinder; The imager and the rangefinder are fixedly connected to the moving mechanism, and the relative positions of the imager and the rangefinder are fixed and unchanged.

2. The workpiece point three-dimensional coordinate measuring device according to claim 1, characterized in that: The device also includes: A controller, connected to the moving mechanism, the imager and the rangefinder by signals respectively; A display device is connected to the controller signal and is used to display the image captured by the imager.

3. A method for measuring three-dimensional coordinates of a workpiece point, characterized in that: The method comprises: Controlling the movement of an imager and a rangefinder so that a workpiece point of a workpiece is located in an image captured by the imager, and obtaining movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece; Controlling the imager and the rangefinder to move so that the light emitted by the rangefinder is aimed at the workpiece point, and obtaining the straight-line distance between the rangefinder and the workpiece point; Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance; Determining geometric parameters between the two workpiece points according to the three-dimensional coordinates of each of the two workpiece points; The controlling the imager and the rangefinder to move so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager includes: Controlling the imager and the rangefinder to move so that the workpiece point and the marking point coincide with each other in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance; In the process that the motion axis moves on the workpiece mounting platform and synchronously drives the imager and the rangefinder to move, the motion parameters of the motion axis are obtained; The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate; Controlling the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager, including: Controlling the imager and the rangefinder to move so that the workpiece point is located in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance; Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance includes: Determine the X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image; Determine the Y coordinate according to the Y axis moving distance of the workpiece point in the image; The Z coordinate is determined according to the straight-line distance.

4. The method for measuring three-dimensional coordinates of workpiece points according to claim 3, characterized in that: The step of obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance comprises: Determine the X coordinate according to the X-axis movement distance; Determine the Y coordinate according to the Y axis movement distance; The Z coordinate is determined according to the straight-line distance.

5. The method for measuring three-dimensional coordinates of workpiece points according to claim 4, characterized in that: Determining the Z coordinate according to the straight-line distance includes: Determine the Z-axis projection distance according to the straight-line distance; The Z coordinate is determined according to the Z-axis projection distance and the Z-axis coordinate of the rangefinder.

6. The method for measuring three-dimensional coordinates of workpiece points according to claim 3, characterized in that: The method of controlling the imager and the rangefinder to move so that the workpiece point of the workpiece is located in the image captured by the imager and obtaining the movement parameters of the imager also includes: Calibrate the position of the imager so that the optical axis of the imager is perpendicular to the end surface of the workpiece mounting platform; The distance meter is calibrated so that the relative position between the distance meter and the imager is determined.

7. A workpiece point three-dimensional coordinate measurement system, characterized in that: include: An image acquisition module is used to control the movement of an imager and a rangefinder so that a workpiece point of a workpiece is located in an image captured by the imager, and obtain movement parameters of the imager; wherein the imager and the rangefinder move synchronously, and at least two workpiece points are marked on the workpiece; A distance acquisition module, used for controlling the movement of the imager and the rangefinder so that the light emitted by the rangefinder is aimed at the workpiece point, and obtaining the straight-line distance between the rangefinder and the workpiece point; A coordinate determination module, used for obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance; A spatial distance determination module, used for determining the geometric parameters between the two workpiece points according to the three-dimensional coordinates of the two workpiece points; The controlling the imager and the rangefinder to move so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager includes: Controlling the imager and the rangefinder to move so that the workpiece point and the marking point coincide with each other in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance; In the process that the motion axis moves on the workpiece mounting platform and synchronously drives the imager and the rangefinder to move, the motion parameters of the motion axis are obtained; The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X-coordinate, a Y-coordinate, and a Z-coordinate; Controlling the movement of the imager and the rangefinder so that the workpiece point of the workpiece is located in the image captured by the imager, and obtaining the movement parameters of the imager, including: Controlling the imager and the rangefinder to move so that the workpiece point is located in the image captured by the imager, and obtaining the X-axis moving distance and the Y-axis moving distance; Obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the image and the straight-line distance includes: Determine the X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image; Determine the Y coordinate according to the Y axis moving distance of the workpiece point in the image; The Z coordinate is determined according to the straight-line distance.

Images